#![allow(clippy::op_ref)]
use num::{One, Zero};
use std::ops::{Div, DivAssign, Mul, MulAssign};
use simba::scalar::{ClosedAddAssign, ClosedMulAssign};
use simba::simd::SimdRealField;
use crate::base::{SVector, Unit};
use crate::Scalar;
use crate::geometry::{
AbstractRotation, Isometry, Point, Rotation, Translation, UnitComplex, UnitQuaternion,
};
macro_rules! isometry_binop_impl(
($Op: ident, $op: ident;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
$action: expr; $($lives: tt),*) => {
impl<$($lives ,)* T: SimdRealField, R, const D: usize> $Op<$Rhs> for $Lhs
where T::Element: SimdRealField,
R: AbstractRotation<T, D>, {
type Output = $Output;
#[inline]
fn $op($lhs, $rhs: $Rhs) -> Self::Output {
$action
}
}
}
);
macro_rules! isometry_binop_impl_all(
($Op: ident, $op: ident;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
[val val] => $action_val_val: expr;
[ref val] => $action_ref_val: expr;
[val ref] => $action_val_ref: expr;
[ref ref] => $action_ref_ref: expr;) => {
isometry_binop_impl!(
$Op, $op;
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
$action_val_val; );
isometry_binop_impl!(
$Op, $op;
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
$action_ref_val; 'a);
isometry_binop_impl!(
$Op, $op;
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
$action_val_ref; 'b);
isometry_binop_impl!(
$Op, $op;
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
$action_ref_ref; 'a, 'b);
}
);
macro_rules! isometry_binop_assign_impl_all(
($OpAssign: ident, $op_assign: ident;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty;
[val] => $action_val: expr;
[ref] => $action_ref: expr;) => {
impl<T: SimdRealField, R, const D: usize> $OpAssign<$Rhs> for $Lhs
where T::Element: SimdRealField,
R: AbstractRotation<T, D> {
#[inline]
fn $op_assign(&mut $lhs, $rhs: $Rhs) {
$action_val
}
}
impl<'b, T: SimdRealField, R, const D: usize> $OpAssign<&'b $Rhs> for $Lhs
where T::Element: SimdRealField,
R: AbstractRotation<T, D> {
#[inline]
fn $op_assign(&mut $lhs, $rhs: &'b $Rhs) {
$action_ref
}
}
}
);
isometry_binop_impl_all!(
Mul, mul;
self: Isometry<T, R, D>, rhs: Isometry<T, R, D>, Output = Isometry<T, R, D>;
[val val] => &self * &rhs;
[ref val] => self * &rhs;
[val ref] => &self * rhs;
[ref ref] => {
let shift = self.rotation.transform_vector(&rhs.translation.vector);
#[allow(clippy::suspicious_arithmetic_impl)]
Isometry::from_parts(Translation::from(&self.translation.vector + shift),
self.rotation.clone() * rhs.rotation.clone()) };
);
isometry_binop_impl_all!(
Div, div;
self: Isometry<T, R, D>, rhs: Isometry<T, R, D>, Output = Isometry<T, R, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * rhs.inverse() };
);
isometry_binop_assign_impl_all!(
MulAssign, mul_assign;
self: Isometry<T, R, D>, rhs: Translation<T, D>;
[val] => *self *= &rhs;
[ref] => #[allow(clippy::suspicious_op_assign_impl)] {
let shift = self.rotation.transform_vector(&rhs.vector);
self.translation.vector += shift;
};
);
isometry_binop_assign_impl_all!(
MulAssign, mul_assign;
self: Isometry<T, R, D>, rhs: Isometry<T, R, D>;
[val] => *self *= &rhs;
[ref] => {
let shift = self.rotation.transform_vector(&rhs.translation.vector);
self.translation.vector += shift;
self.rotation *= rhs.rotation.clone();
};
);
isometry_binop_assign_impl_all!(
DivAssign, div_assign;
self: Isometry<T, R, D>, rhs: Isometry<T, R, D>;
[val] => *self /= &rhs;
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
MulAssign, mul_assign where T: SimdRealField for T::Element: SimdRealField;
(Const<D>, U1), (Const<D>, Const<D>)
const D; for; where;
self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>;
[val] => self.rotation *= rhs;
[ref] => self.rotation *= rhs.clone();
);
md_assign_impl_all!(
DivAssign, div_assign where T: SimdRealField for T::Element: SimdRealField;
(Const<D>, U1), (Const<D>, Const<D>)
const D; for; where;
self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
MulAssign, mul_assign where T: SimdRealField for T::Element: SimdRealField;
(U3, U3), (U3, U3)
const; for; where;
self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>;
[val] => self.rotation *= rhs;
[ref] => self.rotation *= rhs.clone();
);
md_assign_impl_all!(
DivAssign, div_assign where T: SimdRealField for T::Element: SimdRealField;
(U3, U3), (U3, U3)
const; for; where;
self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
md_assign_impl_all!(
MulAssign, mul_assign where T: SimdRealField for T::Element: SimdRealField;
(U2, U2), (U2, U2)
const; for; where;
self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>;
[val] => self.rotation *= rhs;
[ref] => self.rotation *= rhs.clone();
);
md_assign_impl_all!(
DivAssign, div_assign where T: SimdRealField for T::Element: SimdRealField;
(U2, U2), (U2, U2)
const; for; where;
self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>;
[val] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
[ref] => #[allow(clippy::suspicious_op_assign_impl)] { *self *= rhs.inverse() };
);
isometry_binop_impl_all!(
Mul, mul;
self: Isometry<T, R, D>, right: Point<T, D>, Output = Point<T, D>;
[val val] => self.translation * self.rotation.transform_point(&right);
[ref val] => &self.translation * self.rotation.transform_point(&right);
[val ref] => self.translation * self.rotation.transform_point(right);
[ref ref] => &self.translation * self.rotation.transform_point(right);
);
isometry_binop_impl_all!(
Mul, mul;
self: Isometry<T, R, D>, right: SVector<T, D>, Output = SVector<T, D>;
[val val] => self.rotation.transform_vector(&right);
[ref val] => self.rotation.transform_vector(&right);
[val ref] => self.rotation.transform_vector(right);
[ref ref] => self.rotation.transform_vector(right);
);
isometry_binop_impl_all!(
Mul, mul;
self: Isometry<T, R, D>, right: Unit<SVector<T, D>>, Output = Unit<SVector<T, D>>;
[val val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[ref val] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[val ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
[ref ref] => Unit::new_unchecked(self.rotation.transform_vector(right.as_ref()));
);
isometry_binop_impl_all!(
Mul, mul;
self: Isometry<T, R, D>, right: Translation<T, D>, Output = Isometry<T, R, D>;
[val val] => &self * &right;
[ref val] => self * &right;
[val ref] => &self * right;
[ref ref] => {
#[allow(clippy::suspicious_arithmetic_impl)]
let new_tr = &self.translation.vector + self.rotation.transform_vector(&right.vector);
Isometry::from_parts(Translation::from(new_tr), self.rotation.clone())
};
);
isometry_binop_impl_all!(
Mul, mul;
self: Translation<T, D>, right: Isometry<T, R, D>, Output = Isometry<T, R, D>;
[val val] => Isometry::from_parts(self * right.translation, right.rotation);
[ref val] => Isometry::from_parts(self * &right.translation, right.rotation);
[val ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
[ref ref] => Isometry::from_parts(self * &right.translation, right.rotation.clone());
);
macro_rules! isometry_from_composition_impl(
($Op: ident, $op: ident;
$($Dims: ident),*;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
$action: expr; $($lives: tt),*) => {
impl<$($lives ,)* T: SimdRealField $(, const $Dims: usize)*> $Op<$Rhs> for $Lhs
where T::Element: SimdRealField {
type Output = $Output;
#[inline]
fn $op($lhs, $rhs: $Rhs) -> Self::Output {
$action
}
}
}
);
macro_rules! isometry_from_composition_impl_all(
($Op: ident, $op: ident;
$($Dims: ident),*;
$lhs: ident: $Lhs: ty, $rhs: ident: $Rhs: ty, Output = $Output: ty;
[val val] => $action_val_val: expr;
[ref val] => $action_ref_val: expr;
[val ref] => $action_val_ref: expr;
[ref ref] => $action_ref_ref: expr;) => {
isometry_from_composition_impl!(
$Op, $op;
$($Dims),*;
$lhs: $Lhs, $rhs: $Rhs, Output = $Output;
$action_val_val; );
isometry_from_composition_impl!(
$Op, $op;
$($Dims),*;
$lhs: &'a $Lhs, $rhs: $Rhs, Output = $Output;
$action_ref_val; 'a);
isometry_from_composition_impl!(
$Op, $op;
$($Dims),*;
$lhs: $Lhs, $rhs: &'b $Rhs, Output = $Output;
$action_val_ref; 'b);
isometry_from_composition_impl!(
$Op, $op;
$($Dims),*;
$lhs: &'a $Lhs, $rhs: &'b $Rhs, Output = $Output;
$action_ref_ref; 'a, 'b);
}
);
isometry_from_composition_impl_all!(
Mul, mul;
D;
self: Rotation<T, D>, right: Translation<T, D>, Output = Isometry<T, Rotation<T, D>, D>;
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from(self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from(self * &right.vector), self.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
;
self: UnitQuaternion<T>, right: Translation<T, 3>,
Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => Isometry::from_parts(Translation::from(&self * right.vector), self);
[ref val] => Isometry::from_parts(Translation::from( self * right.vector), self.clone());
[val ref] => Isometry::from_parts(Translation::from(&self * &right.vector), self);
[ref ref] => Isometry::from_parts(Translation::from( self * &right.vector), self.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
D;
self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>,
Output = Isometry<T, Rotation<T, D>, D>;
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
D;
self: Rotation<T, D>, right: Isometry<T, Rotation<T, D>, D>,
Output = Isometry<T, Rotation<T, D>, D>;
[val val] => &self * &right;
[ref val] => self * &right;
[val ref] => &self * right;
[ref ref] => {
let shift = self * &right.translation.vector;
Isometry::from_parts(Translation::from(shift), self * &right.rotation)
};
);
isometry_from_composition_impl_all!(
Div, div;
D;
self: Isometry<T, Rotation<T, D>, D>, rhs: Rotation<T, D>,
Output = Isometry<T, Rotation<T, D>, D>;
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
);
isometry_from_composition_impl_all!(
Div, div;
D;
self: Rotation<T, D>, right: Isometry<T, Rotation<T, D>, D>,
Output = Isometry<T, Rotation<T, D>, D>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
isometry_from_composition_impl_all!(
Mul, mul;
;
self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>,
Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
;
self: UnitQuaternion<T>, right: Isometry<T, UnitQuaternion<T>, 3>,
Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => &self * &right;
[ref val] => self * &right;
[val ref] => &self * right;
[ref ref] => {
let shift = self * &right.translation.vector;
Isometry::from_parts(Translation::from(shift), self * &right.rotation)
};
);
isometry_from_composition_impl_all!(
Div, div;
;
self: Isometry<T, UnitQuaternion<T>, 3>, rhs: UnitQuaternion<T>,
Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
);
isometry_from_composition_impl_all!(
Div, div;
;
self: UnitQuaternion<T>, right: Isometry<T, UnitQuaternion<T>, 3>,
Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref val] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[val ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
[ref ref] => #[allow(clippy::suspicious_arithmetic_impl)] { self * right.inverse() };
);
isometry_from_composition_impl_all!(
Mul, mul;
D;
self: Translation<T, D>, right: Rotation<T, D>, Output = Isometry<T, Rotation<T, D>, D>;
[val val] => Isometry::from_parts(self, right);
[ref val] => Isometry::from_parts(self.clone(), right);
[val ref] => Isometry::from_parts(self, right.clone());
[ref ref] => Isometry::from_parts(self.clone(), right.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
;
self: Translation<T, 3>, right: UnitQuaternion<T>, Output = Isometry<T, UnitQuaternion<T>, 3>;
[val val] => Isometry::from_parts(self, right);
[ref val] => Isometry::from_parts(self.clone(), right);
[val ref] => Isometry::from_parts(self, right.clone());
[ref ref] => Isometry::from_parts(self.clone(), right.clone());
);
isometry_from_composition_impl_all!(
Mul, mul;
;
self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>,
Output = Isometry<T, UnitComplex<T>, 2>;
[val val] => Isometry::from_parts(self.translation, self.rotation * rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation * rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() * rhs.clone());
);
isometry_from_composition_impl_all!(
Div, div;
;
self: Isometry<T, UnitComplex<T>, 2>, rhs: UnitComplex<T>,
Output = Isometry<T, UnitComplex<T>, 2>;
[val val] => Isometry::from_parts(self.translation, self.rotation / rhs);
[ref val] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs);
[val ref] => Isometry::from_parts(self.translation, self.rotation / rhs.clone());
[ref ref] => Isometry::from_parts(self.translation.clone(), self.rotation.clone() / rhs.clone());
);